This video combines the LQR and Kalman filter in Matlab on the example of an inverted pendulum on a cart. We stabilize the full nonlinear system with a measurement of a single variable (the cart position). This example is demonstrated in simulink.

Code available at: faculty.washington.edu/sbrunton/control_bootcamp_code.zip

These lectures follow Chapters 1 & 3 from:

Machine learning control, by Duriez, Brunton, & Noack
[ Ссылка ]

Chapters available at: [ Ссылка ]

This video was produced at the University of Washington

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